An Optimized Fuzzy Control Approach to the Trajectory Tracking of Nonholonomic Mobile Robots

Journal of South China University of Technology(Natural Science Edition) ›› 2004, Vol. 32 ›› Issue (3): 44-49.

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An Optimized Fuzzy Control Approach to the Trajectory Tracking of Nonholonomic Mobile Robots

Wu Xin-sheng Ren Hua-ying

Received:2003-06-27 Online:2004-03-20 Published:2015-09-08
Contact: 吴忻生（1961－）男讲师主要从事自动化技术和智能系统的工程应用研究． E-mail:auxswu＠scut.edu.cn
About author:吴忻生（1961－）男讲师主要从事自动化技术和智能系统的工程应用研究．

Abstract

Abstract:

Aiming at the high nonlinearity and uncertainty of the dynamics of nonholonomic mobile robotsas well as the fact that the robot can not be asymptotically stabilized by the continuous state feedback methodan optimized fuzzy control approach to the trajectory tracking of the robots was proposed on the basis of genetic algorithm．The fuzzy rules of the approach were optimized by genetic algorithmand the structure as well as the parameters of the fuzzy logic controller was effectively determinedthus achieving desired tracking performance．The numerical simulation results indicate the efficiency of the proposed approach．

Key words: mobile robot, trajectory tracking, fuzzy control, genetic algorithm

CLC Number:

TP273^＋.4

Wu Xin-sheng Ren Hua-ying. An Optimized Fuzzy Control Approach to the Trajectory Tracking of Nonholonomic Mobile Robots[J]. Journal of South China University of Technology(Natural Science Edition), 2004, 32(3): 44-49.

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An Optimized Fuzzy Control Approach to the Trajectory Tracking of Nonholonomic Mobile Robots

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